EP0746805A1 - Device for depositing a fluid material, manipulator therefor, and method for using said device - Google Patents

Device for depositing a fluid material, manipulator therefor, and method for using said device

Info

Publication number
EP0746805A1
EP0746805A1 EP95909819A EP95909819A EP0746805A1 EP 0746805 A1 EP0746805 A1 EP 0746805A1 EP 95909819 A EP95909819 A EP 95909819A EP 95909819 A EP95909819 A EP 95909819A EP 0746805 A1 EP0746805 A1 EP 0746805A1
Authority
EP
European Patent Office
Prior art keywords
cavity
nozzle
fluid
gun
manipulator
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP95909819A
Other languages
German (de)
French (fr)
Other versions
EP0746805B1 (en
Inventor
Dominique Thomas
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SEVA SA
Original Assignee
SEVA SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SEVA SA filed Critical SEVA SA
Publication of EP0746805A1 publication Critical patent/EP0746805A1/en
Application granted granted Critical
Publication of EP0746805B1 publication Critical patent/EP0746805B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
    • B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
    • B05C5/0225—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work characterised by flow controlling means, e.g. valves, located proximate the outlet
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D7/00—Control of flow
    • G05D7/06—Control of flow characterised by the use of electric means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
    • B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
    • B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
    • B05C5/0212—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles
    • B05C5/0216—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles by relative movement of article and outlet according to a predetermined path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D7/00—Control of flow
    • G05D7/06—Control of flow characterised by the use of electric means
    • G05D7/0617—Control of flow characterised by the use of electric means specially adapted for fluid materials
    • G05D7/0629—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the type of regulator means
    • G05D7/0635—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the type of regulator means by action on throttling means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces

Definitions

  • Device for depositing a fluid material corresponding manipulator and method for implementing the device.
  • the present invention relates to the deposition of a curable fluid or viscous material. It relates primarily to a device for measuring and regulating the flow of a fluid or viscous material.
  • the device comprises an opening for supplying fluid to a cavity delimited by walls.
  • the cavity contains a means of controlling the movement of the material towards an outlet orifice of the cavity.
  • the fluid flow control technique is known (see for example French patents FR 1074 689 and FR 1 323 988). These known devices for measuring and regulating a flow do not allow the hardenable fluid material to be deposited on the workpiece. In addition, these known devices are bulky and heavy, which hinders the use or boarding by a manipulator such as human or robotized. So when removing the material following a complex shape spatial curve.
  • the device according to the invention has an outlet orifice which opens into a dispensing nozzle secured to the walls of the cavity.
  • the drive means is a gear whose axis of each pinion is substantially perpendicular to the axis of the outlet opening of the cavity.
  • the drive means is actuated by a motor, notably an electric motor.
  • the flow is proportional to the rotation of the gear, therefore to that of the electric motor whose controlled rotation allows the flow to be measured.
  • the device comprises two pressure taps, one of which is upstream and the other downstream of the cavity.
  • the walls of the cavity are heated, for example by means of cartridge housed in holes, a heating plate was added to the device or an element was fixed heater for positioning the nozzle, the motor and / or a manipulator on the device according to the invention.
  • the nozzle comprises an extrusion orifice comprising at its end a closing and opening valve which can be adjustable, which makes it possible to obtain a zero cavity, that is to say without material in contact with the outside which would risk harden and seal the nozzle.
  • the invention also relates to a manipulator, in particular a robot of the type comprising a movable body on which is mounted an articulated arm having at its end a rotating wrist secured to a fluid delivery gun, said gun comprising a feed opening in fluid from a cavity delimited by at least one wall, said cavity containing a gear for driving the fluid towards an outlet orifice, in which the gun conforms to the aforementioned device.
  • a manipulator in particular a robot of the type comprising a movable body on which is mounted an articulated arm having at its end a rotating wrist secured to a fluid delivery gun, said gun comprising a feed opening in fluid from a cavity delimited by at least one wall, said cavity containing a gear for driving the fluid towards an outlet orifice, in which the gun conforms to the aforementioned device.
  • the subject of the invention is also a method for depositing a curable fluid or viscous material, the deposition being carried out by the flow of the material in a nozzle characterized in that the material is heated then the measurement and regulation are carried out. flow rate of said flow material.
  • FIG. 1 schematically represents, in perspective view, an installation for depositing material comprising a device and a manipulator according to the invention.
  • FIG. 2 shows, in sectional view, the device used in this installation.
  • - Fig. 3 is a partially cutaway elevation view of the device cavity.
  • the installation shown in Fig. 1 includes a robot 1 handling a dispensing gun 2.
  • the gun 2 is supplied with foaming material m, via a flexible conduit 3, by a piston pump 4 disposed on a barrel 5 constituting a reservoir.
  • the gun 2 deposits the material m on the upper periphery 6 of a cylindrical object 7 fixed on a table 8.
  • the robot 1 runs on slides 8.
  • the robot 1 is provided with a wrist 9 for fixing the gun 2, said wrist 9 constituting the end of an arm 10 mounted on the body 11 of the robot 1.
  • the body 11 is itself mounted on blanks 12, 13 fixed to a foot 14 rotating relative to a base 15.
  • the robot comprises six articulations of axes a, b, c, d, e, f placed respectively at the junctions of the base 15 with the foot 14, of the blanks 12, 13 with the body 11, of the body 11 with the arm 10 , on the arm 10, at the junction of the arm 10 and the wrist 9 and on the wrist 9.
  • the combination of these six articulations of respective axes a, b, c, d, e, f allows any positioning of the pistol 2 in space.
  • the gun 2 comprises a housing 16 delimited by six flat walls 17.
  • a wall has a supply opening 18; the facing wall has an outlet orifice 19 opening into a nozzle 20.
  • An electric motor 21 controlled by an electronic variator e is fixed on a third wall 17.
  • the nozzle 20 and the motor 21 are positioned on the housing 16 by means of a heating support element 22 consisting of three plates 22a, 22b, 22c arranged perpendicularly in space.
  • the heating of the plates is obtained by two thermoregulated cartridges 23, 24.
  • the hose 3 for supplying foaming material m is fixed to the supply opening 18 by a flange 25.
  • a pipe 26 connects the outlet orifice 19 to the nozzle 20 through the heating plate 22a.
  • Two pressure taps 27, 28 are mounted respectively on the flange 25 and the pipe outlet 26 in the nozzle 20.
  • the nozzle 20 comprises a hollow conical extrusion orifice 29 closable by a rod 30 forming a valve and integral with a jack. pneumatic operation 31.
  • a screw 32 located at the end of the jack 31 opposite the valve controls the opening of said valve.
  • the housing 16 contains a gear formed by two pinions 33 and 34 which appears in FIG. 3.
  • the pinion 33 is driven by means of the shaft 35 for transmitting the movement of the motor 21.
  • the second pinion 34 is mounted on the shaft 36.
  • the shafts 35 and 36 which are parallel to each other are mounted perpendicular to the orifice of exit 19.
  • the foaming material m is pumped into the barrel 5 by the pump 4 which supplies the mobile gun 2 by the flexible conduit 3.
  • the robot 1 positions and moves the extrusion orifice 29 integral with the gun 2.
  • the flexibility of the conduit 3 allows the gun to be supplied at variable distances from the barrel 5.
  • the product is driven towards the outlet orifice 19 by the rotation of the pinions 33, 34 of the gear.
  • the pinion 34 is driven by the pinion 33 controlled in rotation by the motor, therefore the motor controls the flow.
  • the robot gives the authorization to start the engine and to open the nozzle when it has brought the gun 2 into the working position. At this time, the foaming material flows at a controlled rate, which makes it possible to obtain the installation of a repetitive bead of foaming material.
  • the installation is carried out by the displacement of the nozzle 20 by the robot 1 above the area to be covered.
  • the cycle ends with the closure of the nozzle and the simultaneous stop of the motor controlled by the robot. Then the latter returns the gun 2 to its standby position.
  • the use of an electric motor 21 provided with its control variator e makes it possible to vary the flow rate of foaming material m during a deposition cycle.
  • the manipulator can be a motorized slide.

Abstract

PCT No. PCT/FR95/00166 Sec. 371 Date Nov. 12, 1996 Sec. 102(e) Date Nov. 12, 1996 PCT Filed Feb. 13, 1995 PCT Pub. No. WO95/23365 PCT Pub. Date Aug. 31, 1995A device including a cavity defined by walls (17) having a feed opening (18) and an outlet (19) for the fluid material (m). The outlet (19) is connected to a nozzle (20). The device is suitable for measuring, controlling and depositing the material (m).

Description

Dispositif de dépose d'un matériau fluide, manipulateur correspondant et procédé de mise en oeuyre du dispositif. Device for depositing a fluid material, corresponding manipulator and method for implementing the device.
La présente invention est relative à la dépose d'un matériau fluide ou visqueux durcissable. Elle concerne en premier lieu un dispositif pour mesurer et réguler le débit d'un matériau fluide ou visqueux. Le dispositif comprend une ouverture d'alimentation en fluide d'une cavité délimitée par des parois. La cavité contient un moyen de contrôle du déplacement du matériau vers un orifice de sortie de la cavité.The present invention relates to the deposition of a curable fluid or viscous material. It relates primarily to a device for measuring and regulating the flow of a fluid or viscous material. The device comprises an opening for supplying fluid to a cavity delimited by walls. The cavity contains a means of controlling the movement of the material towards an outlet orifice of the cavity.
La technique de régulation de débit de fluide est connue (voir par exemple les brevets français FR 1074 689 et FR 1 323 988). Ces dispositifs connus de mesure et de régulation d'un débit ne permettent pas la dépose sur pièce du matériau fluide durcissable. De plus ces dispositifs connus sont volumineux et lourds ce qui nuit à l'utilisation ou à l'embarquement par un manipulateur tel que humain ou robotisé. Donc à la dépose du matériau suivant un courbe spatiale de forme complexe.The fluid flow control technique is known ( see for example French patents FR 1074 689 and FR 1 323 988). These known devices for measuring and regulating a flow do not allow the hardenable fluid material to be deposited on the workpiece. In addition, these known devices are bulky and heavy, which hinders the use or boarding by a manipulator such as human or robotized. So when removing the material following a complex shape spatial curve.
De plus il n'est pas possible de raccorder ces dispositifs connus, par exemple par un tuyau flexible, à une buse mobile de dépose, parce que les matériaux fluides durcissables sont souvent expansibles et compressifs sous l'action de la pression.In addition, it is not possible to connect these known devices, for example by a flexible hose, to a movable dispensing nozzle, because the curable fluid materials are often expandable and compressive under the action of pressure.
Dans cette situation le tuyau se dilate sous l'effet des variations de pressions, si bien que le débit enregistré par la pompe n'est plus représentatif du débit de la buse.In this situation the pipe expands under the effect of pressure variations, so that the flow recorded by the pump is no longer representative of the flow rate of the nozzle.
L'invention a pour but de remédier à ces inconvénients. A cet effet, le dispositif selon l'invention présente un orifice de sortie qui débouche dans une buse de dépose solidaire des parois de la cavité.The invention aims to remedy these drawbacks. To this end, the device according to the invention has an outlet orifice which opens into a dispensing nozzle secured to the walls of the cavity.
Afin de réguler le débit de manière continue, le moyen d'entraînement est un engrenage dont l'axe de chaque pignon est sensiblement perpendiculaire à l'axe de l'orifice de sortie de la cavité. Le moyen d'entraînement est actionné par un moteur, notamment électrique. Le débit est proportionnel à la rotation de l'engrenage, donc à celle du moteur électrique dont la rotation contrôlée permet de mesurer le débit.In order to regulate the flow continuously, the drive means is a gear whose axis of each pinion is substantially perpendicular to the axis of the outlet opening of the cavity. The drive means is actuated by a motor, notably an electric motor. The flow is proportional to the rotation of the gear, therefore to that of the electric motor whose controlled rotation allows the flow to be measured.
En vue d'obtenir un différentiel de pression voisin de zéro, donc une grande précision dans la régulation sans fuite interne du matériau, le dispositif comprend deux prises de pression dont une est en amont et 1 ' autre en aval de la cavité.In order to obtain a pressure differential close to zero, therefore high precision in the regulation without internal leakage of the material, the device comprises two pressure taps, one of which is upstream and the other downstream of the cavity.
La diminution de ces fuites internes augmente le rendement volumétrique et évite les échauffements pouvant être néfastes au matériau.The reduction of these internal leaks increases the volumetric efficiency and avoids overheating which can be harmful to the material.
Dans le but de contenir la viscosité dans une plage étroite et de manipuler le matériau, les parois de la cavité sont chauffantes, par exemple au moyen de cartouche logées dans des perçages, on a ajouté une plaque chauffante au dispositif ou on a fixé un élément chauffant de positionnement de la buse, du moteur et/ou d'un manipulateur sur le dispositif selon l'invention.In order to contain the viscosity in a narrow range and to handle the material, the walls of the cavity are heated, for example by means of cartridge housed in holes, a heating plate was added to the device or an element was fixed heater for positioning the nozzle, the motor and / or a manipulator on the device according to the invention.
La buse comprend un orifice d'extrusion comprenant à son extrémité un clapet de fermeture et d'ouverture pouvant être réglable, ce qui permet d'obtenir une cavité zéro c'est-à-dire sans matériau en contact avec l'extérieur qui risquerait de durcir et d'obturer la buse.The nozzle comprises an extrusion orifice comprising at its end a closing and opening valve which can be adjustable, which makes it possible to obtain a zero cavity, that is to say without material in contact with the outside which would risk harden and seal the nozzle.
L'invention a également pour objet un manipulateur, notamment robot du type comprenant un corps mobile sur lequel est monté un bras articulé présentant à son extrémité un poignet tournant solidaire d'un pistolet de pose de fluide, ledit pistolet comprenant une ouverture d'alimentation en fluide d'une cavité délimitée par au moins une paroi, ladite cavité contenant un engrenage d'entraînement du fluide vers un orifice de sortie, dans lequel le pistolet est conforme au dispositif précité.The invention also relates to a manipulator, in particular a robot of the type comprising a movable body on which is mounted an articulated arm having at its end a rotating wrist secured to a fluid delivery gun, said gun comprising a feed opening in fluid from a cavity delimited by at least one wall, said cavity containing a gear for driving the fluid towards an outlet orifice, in which the gun conforms to the aforementioned device.
L'invention a encore pour objet un procédé pour déposer un matériau fluide ou visqueux durcissable, la dépose s*effectuant par l'écoulement du matériau dans une buse caractérisé en ce que l'on chauffe le matériau puis l'on mesure et régule le débit de l'écoulement dudit matériau. Ce qui permet de faire varier le débit de sortie du matériau en cours d'une même dépose, donc si le manipulateur ralentit on est capable d'ajuster le débit pour conserver le même poids linéaire de produit déposé. Un exemple de mise en oeuvre de 1 ' invention va maintenant être décrit en regard des dessins annexés sur lesquels :The subject of the invention is also a method for depositing a curable fluid or viscous material, the deposition being carried out by the flow of the material in a nozzle characterized in that the material is heated then the measurement and regulation are carried out. flow rate of said flow material. This makes it possible to vary the output flow rate of the material during the same removal, so if the manipulator slows down we are able to adjust the flow rate to keep the same linear weight of product deposited. An exemplary implementation of the invention will now be described with reference to the appended drawings in which:
- la Fig. 1 représente schématiquement, vue en perspective, une installation de dépose de matériau comprenant un dispositif et un manipulateur selon 1' invention.- Fig. 1 schematically represents, in perspective view, an installation for depositing material comprising a device and a manipulator according to the invention.
- La Fig. 2 représente, vue en coupe, le dispositif utilisé dans cette installation.- Fig. 2 shows, in sectional view, the device used in this installation.
- La Fig. 3 est une vue en élévation partiellement arrachée, de la cavité du dispositif.- Fig. 3 is a partially cutaway elevation view of the device cavity.
L'installation présentée à la Fig. 1 comporte un robot 1 manipulant un pistolet de dépose 2.The installation shown in Fig. 1 includes a robot 1 handling a dispensing gun 2.
Le pistolet 2 est alimenté en matériau moussant m, via un conduit flexible 3, par une pompe à piston 4 disposée sur un fût 5 constituant un réservoir.The gun 2 is supplied with foaming material m, via a flexible conduit 3, by a piston pump 4 disposed on a barrel 5 constituting a reservoir.
Le pistolet 2 dépose le matériau m sur la périphérie supérieure 6 d'un objet cylindrique 7 fixé sur une table 8.The gun 2 deposits the material m on the upper periphery 6 of a cylindrical object 7 fixed on a table 8.
Le robot 1 circule sur des glissières 8.The robot 1 runs on slides 8.
Le robot 1 est muni d'un poignet 9 de fixation du pistolet 2, ledit poignet 9 constituant l'extrémité d'un bras 10 monté sur le corps 11 du robot 1. Le corps 11 est lui-même monté sur des flans 12, 13 fixés à un pied 14 tournant par rapport à une embase 15.The robot 1 is provided with a wrist 9 for fixing the gun 2, said wrist 9 constituting the end of an arm 10 mounted on the body 11 of the robot 1. The body 11 is itself mounted on blanks 12, 13 fixed to a foot 14 rotating relative to a base 15.
Le robot comprend six articulations d'axes a, b, c, d, e, f placées respectivement aux jonctions de l'embase 15 avec le pied 14, des flans 12, 13 avec le corps 11, du corps 11 avec le bras 10, sur le bras 10, à la jonction du bras 10 et du poignet 9 et sur le poignet 9. La combinaison de ces six articulations d'axes respectifs a, b, c, d, e, f permet n'importe quel positionnement du pistolet 2 dans l'espace. Le pistolet 2 comprend un boîtier 16 délimité par six parois planes 17. Une paroi présente une ouverture d'alimentation 18 ; la paroi en vis-à-vis comporte un orifice de sortie 19 débouchant dans une buse 20. Un moteur électrique 21 commandé par un variateur électronique e est fixé sur une troisième paroi 17.The robot comprises six articulations of axes a, b, c, d, e, f placed respectively at the junctions of the base 15 with the foot 14, of the blanks 12, 13 with the body 11, of the body 11 with the arm 10 , on the arm 10, at the junction of the arm 10 and the wrist 9 and on the wrist 9. The combination of these six articulations of respective axes a, b, c, d, e, f allows any positioning of the pistol 2 in space. The gun 2 comprises a housing 16 delimited by six flat walls 17. A wall has a supply opening 18; the facing wall has an outlet orifice 19 opening into a nozzle 20. An electric motor 21 controlled by an electronic variator e is fixed on a third wall 17.
La buse 20 et le moteur 21 sont positionnés sur le boîtier 16 par l'intermédiaire d'un élément support chauffant 22 constitué de trois plaques 22a, 22b, 22c disposées perpendiculairement dans l'espace. Le chauffage des plaques est obtenu par deux cartouches thermo- régulées 23, 24. Le flexible 3 d'amenée de matériau moussant m est fixé à l'ouverture d'alimentation 18 par une bride 25. Une canalisation 26 relie l'orifice de sortie 19 à la buse 20 à travers la plaque chauffante 22a. Deux prises de pression 27, 28 sont montées respectivement sur la bride 25 et la sortie canalisation 26 dans la buse 20. La buse 20 comprend un orifice d'extrusion 29 conique creux obturable par une tige 30 formant clapet et solidaire d'un vérin de manoeuvre pneumatique 31. Une vis 32 située à l'extrémité du vérin 31 opposée au clapet contrôle l'ouverture dudit clapet.The nozzle 20 and the motor 21 are positioned on the housing 16 by means of a heating support element 22 consisting of three plates 22a, 22b, 22c arranged perpendicularly in space. The heating of the plates is obtained by two thermoregulated cartridges 23, 24. The hose 3 for supplying foaming material m is fixed to the supply opening 18 by a flange 25. A pipe 26 connects the outlet orifice 19 to the nozzle 20 through the heating plate 22a. Two pressure taps 27, 28 are mounted respectively on the flange 25 and the pipe outlet 26 in the nozzle 20. The nozzle 20 comprises a hollow conical extrusion orifice 29 closable by a rod 30 forming a valve and integral with a jack. pneumatic operation 31. A screw 32 located at the end of the jack 31 opposite the valve controls the opening of said valve.
Le boîtier 16 contient un engrenage formé de deux pignons 33 et 34 qui apparaît sur la Fig. 3. Le pignon 33 est entraîné au moyen de l'arbre 35 de transmission du mouvement du moteur 21. Le deuxième pignon 34 est monté sur l'arbre 36. Les arbres 35 et 36 parallèles entre eux sont montés perpendiculairement à l'orifice de sortie 19.The housing 16 contains a gear formed by two pinions 33 and 34 which appears in FIG. 3. The pinion 33 is driven by means of the shaft 35 for transmitting the movement of the motor 21. The second pinion 34 is mounted on the shaft 36. The shafts 35 and 36 which are parallel to each other are mounted perpendicular to the orifice of exit 19.
Le fonctionnement de l'installation est le suivant, le matériau moussant m est pompé dans le fût 5 par la pompe 4 qui alimente le pistolet mobile 2 par le conduit flexible 3.The operation of the installation is as follows, the foaming material m is pumped into the barrel 5 by the pump 4 which supplies the mobile gun 2 by the flexible conduit 3.
Le robot 1 positionne et déplace l'orifice d'extrusion 29 solidaire du pistolet 2. La souplesse du conduit 3 permet l'alimentation du pistolet à des distances variables du fût 5. Le produit est entraîné vers l'orifice de sortie 19 par la rotation des pignons 33, 34 de l'engrenage. Le pignon 34 est entraîné par le pignon 33 contrôlé en rotation par le moteur, donc le moteur contrôle le débit. Le robot donne l'autorisation de mise en route du moteur et d'ouverture de la buse quand il a amené le pistolet 2 en position de travail. A ce moment, le matériau moussant s'écoule à un débit régulé, ce qui permet d'obtenir la pose d'un cordon de matériau moussant répétitive. La pose s'effectue par le déplacement de la buse 20 par le robot 1 au-dessus de la zone à recouvrir. Le cycle se termine par la fermeture de la buse et l'arrêt simultané du moteur commandé par le robot. Puis ce dernier ramène le pistolet 2 à sa position d'attente. L'utilisation d'un moteur électrique 21 muni de son variateur de commande e permet de faire varier le débit de matériau moussant m lors d'un cycle de dépose.The robot 1 positions and moves the extrusion orifice 29 integral with the gun 2. The flexibility of the conduit 3 allows the gun to be supplied at variable distances from the barrel 5. The product is driven towards the outlet orifice 19 by the rotation of the pinions 33, 34 of the gear. The pinion 34 is driven by the pinion 33 controlled in rotation by the motor, therefore the motor controls the flow. The robot gives the authorization to start the engine and to open the nozzle when it has brought the gun 2 into the working position. At this time, the foaming material flows at a controlled rate, which makes it possible to obtain the installation of a repetitive bead of foaming material. The installation is carried out by the displacement of the nozzle 20 by the robot 1 above the area to be covered. The cycle ends with the closure of the nozzle and the simultaneous stop of the motor controlled by the robot. Then the latter returns the gun 2 to its standby position. The use of an electric motor 21 provided with its control variator e makes it possible to vary the flow rate of foaming material m during a deposition cycle.
L'invention ne se limite pas à l'exemple décrit, en variante, le manipulateur peut être une glissière motorisée. The invention is not limited to the example described, alternatively, the manipulator can be a motorized slide.

Claims

REVENDICATIONS 1.- Dispositif pour mesurer et réguler le débit d'un matériau fluide ou visqueux, comprenant une ouverture d'alimentation (18) en fluide d'une cavité délimitée par au moins une paroi (17) , ladite cavité contenant un moyen de contrôle du déplacement volumique du matériau (m) vers un orifice de sortie (19) de la cavité, caractérisé en ce que ledit orifice de sortie (19) débouche dans une buse (20) de dépose solidaire de la ou des parois (17) de la cavité et que le dispositif est un pistolet. CLAIMS 1.- Device for measuring and regulating the flow rate of a fluid or viscous material, comprising a fluid supply opening (18) to a cavity delimited by at least one wall (17), said cavity containing a means of control of the volume displacement of the material (m) towards an outlet orifice (19) of the cavity, characterized in that said outlet orifice (19) opens into a deposit nozzle (20) integral with the wall(s) (17) of the cavity and that the device is a gun.
2.- Dispositif suivant la revendication précédente, dans lequel le moyen d'entraînement apte à réguler le débit de matériau (m) est un engrenage comprenant des pignons (33, 34) d'axe sensiblement perpendiculaire à l'axe de l'orifice de sortie (19) de la cavité. 2.- Device according to the preceding claim, in which the drive means capable of regulating the flow of material (m) is a gear comprising pinions (33, 34) with an axis substantially perpendicular to the axis of the orifice outlet (19) from the cavity.
3.- Dispositif suivant l'une des revendications 1 ou 2 dans lequel le moyen d'entraînement est actionné par un moteur (21) , notamment électrique.3.- Device according to one of claims 1 or 2 in which the drive means is actuated by a motor (21), in particular electric.
4.- Dispositif suivant l'une quelconque des revendications 1 à 3, comprenant au moins deux prises de pression (27, 28) dont une est en amont et l'autre en aval de la cavité.4.- Device according to any one of claims 1 to 3, comprising at least two pressure ports (27, 28), one of which is upstream and the other downstream of the cavity.
5.- Dispositif suivant l'une des revendications 1 à 4, dans lequel la ou les parois (17) de la cavité sont chauffantes, par exemple au moyen de cartouches (23, 24) logées dans des perçages .5.- Device according to one of claims 1 to 4, in which the wall or walls (17) of the cavity are heated, for example by means of cartridges (23, 24) housed in holes.
6.- Dispositif selon l'une des revendications 1 à 4, auquel on a ajouté une plaque chauffante (22a) .6.- Device according to one of claims 1 to 4, to which a heating plate (22a) has been added.
1 . - Dispositif selon l'une des revendications 1 ou 4, sur lequel on a fixé un élément chauffant de positionnement (22) de la buse, du moteur et/ou d'un manipulateur.1. - Device according to one of claims 1 or 4, on which a positioning heating element (22) of the nozzle, the motor and/or a manipulator has been fixed.
8.- Dispositif selon l'une quelconque des revendications 1 à 7, dans lequel la buse (20) comprend un orifice d'extrusion comprenant à son extrémité (29) un clapet (30) de fermeture et d'ouverture pouvant être réglable. 8.- Device according to any one of claims 1 to 7, wherein the nozzle (20) comprises an extrusion orifice comprising at its end (29) a closing and opening valve (30) which can be adjustable.
9.- Manipulateur, notamment robot (1), du type comprenant un corps mobile (11) sur lequel est monté un bras articulé (10) présentant à son extrémité un poignet tournant solidaire d'un pistolet (2) de pose de fluide (m) , ledit pistolet (2) comprenant une ouverture d'alimentation (18) en fluide (m) d'une cavité délimitée par au moins une paroi (17) , ladite cavité contenant un engrenage (33, 34) d'entraînement du fluide (m) vers un orifice de sortie (19) , caractérisé en ce que le pistolet(2) est conforme au dispositif selon l'une des revendications 1 à 8.9.- Manipulator, in particular robot (1), of the type comprising a mobile body (11) on which is mounted an articulated arm (10) having at its end a rotating wrist secured to a gun (2) for applying fluid ( m), said gun (2) comprising a fluid supply opening (18) (m) of a cavity delimited by at least one wall (17), said cavity containing a gear (33, 34) for driving the fluid (m) towards an outlet orifice (19), characterized in that the gun (2) conforms to the device according to one of claims 1 to 8.
10.- Procédé pouvant être mis en oeuvre au moyen d'un dispositif suivant l'une quelconque des revendications 1 à 8, pour déposer un matériau fluide ou visqueux durcissable, la dépose s 'effectuant par l'écoulement du matériau (m) dans une buse (20) caractérisé en ce que l'on chauffe le matériau, puis l'on mesure et régule le débit de l'écoulement dudit matériau (m) . 10.- Method which can be implemented by means of a device according to any one of claims 1 to 8, for depositing a curable fluid or viscous material, the deposit being carried out by the flow of the material (m) in a nozzle (20) characterized in that the material is heated, then the flow rate of said material (m) is measured and regulated.
EP95909819A 1994-02-25 1995-02-13 Device for depositing a fluid material, manipulator therefor, and method for using said device Expired - Lifetime EP0746805B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR9402365 1994-02-25
FR9402365A FR2716729B1 (en) 1994-02-25 1994-02-25 Device for depositing a fluid material, corresponding installation and method for using the device.
PCT/FR1995/000166 WO1995023365A1 (en) 1994-02-25 1995-02-13 Device for depositing a fluid material, manipulator therefor, and method for using said device

Publications (2)

Publication Number Publication Date
EP0746805A1 true EP0746805A1 (en) 1996-12-11
EP0746805B1 EP0746805B1 (en) 1998-07-29

Family

ID=9460569

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Application Number Title Priority Date Filing Date
EP95909819A Expired - Lifetime EP0746805B1 (en) 1994-02-25 1995-02-13 Device for depositing a fluid material, manipulator therefor, and method for using said device

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US (1) US5871123A (en)
EP (1) EP0746805B1 (en)
JP (1) JP3131447B2 (en)
KR (1) KR970701383A (en)
AT (1) ATE169129T1 (en)
DE (1) DE69503762T2 (en)
ES (1) ES2122552T3 (en)
FR (1) FR2716729B1 (en)
WO (1) WO1995023365A1 (en)

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NL2018692B1 (en) * 2017-04-12 2018-10-19 Boeing Co Reusable applicators and related methods
CN110586373B (en) * 2019-07-25 2021-09-07 安徽省合肥汽车锻件有限责任公司 Improved efficient ink jetting structure

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Also Published As

Publication number Publication date
FR2716729B1 (en) 1996-05-24
US5871123A (en) 1999-02-16
FR2716729A1 (en) 1995-09-01
JPH09503440A (en) 1997-04-08
ES2122552T3 (en) 1998-12-16
KR970701383A (en) 1997-03-17
DE69503762T2 (en) 1998-12-10
EP0746805B1 (en) 1998-07-29
ATE169129T1 (en) 1998-08-15
JP3131447B2 (en) 2001-01-31
WO1995023365A1 (en) 1995-08-31
DE69503762D1 (en) 1998-09-03

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